Arrive in Frankfurt. Overnight.
Breakfast. Pick up your car and drive along Autobahn A3 towards Würzburg through the Spessart Mountains. Follow the Scenic Tauber Valley, driving past historic villages, and arrive in Rothenburg o.d. Tauber, the medieval jewel of Germany. Join a guided city walk at 2pm, then drive to Dinkelsbühl, the former Free Imperial Town. Tonight, join the Night Watchman guided walking tour. Overnight in Dinkelsbühl.
Breakfast. Drive to Nördlingen, the only German town where you can still walk the battlements and walls around the historic Old Town. Continue to Augsburg and, at 2pm, join the guided city walk. Overnight.
Breakfast. Follow the Romantic Road as you drive towards the Alps. Stop at the Wies Church, the most beautiful Rococo church in Bavaria. The Romantic Road ends in Füssen. A further 3 km takes you to Hohenschwangau and its famous royal castles. Check in to your hotel and collect your Neuschwanstein Castle entry tickets from the front desk (3.30pm is the lastest castle admission). Overnight in Hohenschwangau.
Your self-drive itinerary ends after breakfast in Hohenschwangau
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